CN101765483B - Power screwdriver - Google Patents
Power screwdriver Download PDFInfo
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- CN101765483B CN101765483B CN2008800215449A CN200880021544A CN101765483B CN 101765483 B CN101765483 B CN 101765483B CN 2008800215449 A CN2008800215449 A CN 2008800215449A CN 200880021544 A CN200880021544 A CN 200880021544A CN 101765483 B CN101765483 B CN 101765483B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
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- Control Of Electric Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a power screwdriver (10) comprising a motor (12) as the drive, a desired torque default element (52) and an actual torque determination element (46), a torque gradient determination element (48) and a motor control (40) which controls the motor (12) depending on the torque gradient (dmd_lst/dt). The invention is characterized by a torque threshold determination element (50) which provides a torque threshold value (Md_Lim, Md_Lim1, Md_Lim2) that depends on the torque gradient (dmd_lst/dt) and lies below the desired torque value (Md_Soll). If the actual torque value (md_Ist) exceeds the torque threshold value (Md_Lim, Md_Lim1, Md_Lim2), a motor control (40) presets a speed reduction for the motor (12) or already completely switches off the motor (12). The power screwdriver (10) according to the invention avoids torque overshoots and yet allows the desired torque value (Md_Soll) to be exactly reached in the shortest time possible.
Description
The present invention relates to a kind of electric screw driver according to the described type of independent claims (Kraftschrauber).
Background technology
Put down in writing a kind of screwdriver by supply voltage work in DE 23 26 027 A, it provides predetermined torque set-point.The torque that screwdriver applies detects by the electric current of the motor of flowing through indirectly.Owing to connecting power supply, it is identical and constant all the time that the operating voltage of motor is considered to.As long as not yet reach the torque set-point, just with the rotating speed rotation of maximum possible, this rotating speed depends on torque set-point to be applied to screwdriver.Because the rotary part of screwdriver such as motor be the inertia of transmission mechanism particularly, after reaching the torque set-point, screw attaching parts and also will continue rotation based on inertia motion (Nachlauf).
DE 103 41 975 A1 have considered that the problem that occurs is rotated in the continuation owing to screwdriver when reaching the torque set-point in DE 23 26 027 A1.Wherein put down in writing a kind of for for example at the torque restricting means of the electronics of the employed motor of screwdriver that works on the storage battery.The torque limit parts of electronics are based on following way: the electric current of the motor of will flowing through is considered measuring as torque.This way shown and inaccuracy, because particularly in the higher situation of rotating speed, owing to the kinetic energy of rotary part, inertia motion can occur after cutting off motor, and the result shows, the torque that screws attaching parts is higher than predetermined torque set-point.For fear of based on the inertia of transmission mechanism or the torque peak of dynamic characteristics, propose: the maximum of determining the motor current of permission according to the rotating speed of motor.According to an embodiment, determined torque set-point is converted into the maximum of motor current.The maximum of motor current is set greatlyr, and the maximum (top) speed of motor is just lower.
Put down in writing a kind of screwdriver in EP 0 187 353 A2, its motor is powered by alternating-current voltage source.According to a kind of understanding, motor under static state provides maximum certain torque under load, and wherein the voltage that provides is provided in this torque, perhaps depends on load current, and load current is corresponding to corresponding motor characteristic.The torque set-point of screw device rotating speed hour or even when screwdriver is static, just reached, thereby avoided owing to inertia motion surpasses the torque set-point.
Be provided with in addition a kind of compensating circuit, the fluctuation that this compensating circuit can offset supply voltage is in order to eliminate impact on the torque actual value.When supply voltage descended, the phase angle of trigger triode controller increased, thereby applies higher average voltage at motor.
Put down in writing a kind of small screwdriver that works on the storage battery in DE 196 26 731 A1, it contains switch block, and this switch block cuts off motor by short circuit.Switch block is handled by feed depth gage (Tiefenanschlag).By the unexpected braking to motor, avoided overshoot
But need to consider at this, only have when the torque that remain to be exported is smaller and for example be at most 100Nm and motor power (output) hour, just can be so that motor short circuit like this, even because for lower-powered motor, the motor of High Rotation Speed by the situation of short circuit under, also must consider significant short circuit current and relevant therewith electromagnetic interference.Short circuit current both can be so that be implemented as the commutator (Kollktor) of the motor of dc motor and have significantly loaded, again can be so that be used for the switch block of motor short circuit is significantly loaded.
Put down in writing a kind of small-sized screwdriver that works on the storage battery in DE 103 45 135 A1, this screwdriver contains lithium-ions battery for supplying energy.
DE 43 10 936 A1 disclose a kind of electric screw driver, and when reaching the torque set-point, it cuts off fully.Numerical value---under this numerical value, electric screw driver is cut off---is adjustable and is positioned under the desired value with torque overshoot value.The purpose of cutting off is to make instrument and tightening member continue motion based on this overshoot until reach target torque.
In DE 201 13 184 U1, a kind of screwdriver that drives electrically that is designed to hand-held tool for example has been described in DE 196 47 813 A1, it has respectively support arm, and support arm is used for screwing that attaching parts are tightened or countertorque is provided when unclamping.
This screwdriver is called electric screw driver, because the torque that provides at most for example can be 10,000Nm, described torque is not in the situation that there is support arm not applied by the operating personnel of electric screw driver.Along with the increase of torque, support arm flexibly is out of shape in the process of screwing, thus so that support arm absorbs energy.In the process of screwing, support arm is clamped in screwdriver and screws on the attaching parts.Support arm not only is absorbed in the energy that produces in the process of screwing by distortion, and is absorbed in and cuts off after the electric screw driver at the parts of the rotation rotating energy that particularly still exists in the transmission mechanism of motor for example.
A kind of method for the manufacture of screwing attaching parts has been described in DE 196 20 782 A1, has wherein detected the time changing curve of torque as gradient.Distinguish between the first and second torque rising parts, wherein the first torque rising part is corresponding to the screw chasing process, and the second torque rising part is corresponding to screwing tightening of attaching parts.If the second torque gradient reduces, then this situation analyzed as being the screw thread distortion, and cuts off screwdriver.
The object of the invention is to, propose a kind of electric screw driver, the electric screw driver that particularly works on the storage battery, it can realize reaching torque set-point given in advance be used to screwing attaching parts in optimized mode, and does not have the danger of torque overshoot.
This purpose is by being achieved in the feature described in the independent claims.
Summary of the invention
Electric screw driver of the present invention has that motor, torque set-point preset component, torque actual value as driving mechanism asked for parts, torque gradient is asked for parts and motor controller, and motor controller is controlled motor according to torque gradient.Being provided with provides the torque threshold of torque threshold determining means, and this torque threshold depends on torque gradient and is positioned at below the torque set-point.If the torque actual value has surpassed torque threshold, then motor controller has perhaps cut off motor fully so that motor reduces rotating speed.
Electric screw driver of the present invention can be asked for parts by torque gradient and realize distinguishing in the hard situation that screws and soft screwing between the situation.Based on the torque gradient of asking for and the torque set-point that regulates, the torque threshold determining means can be determined torque threshold with clearly defined objectively below the torque set-point, thus can be after surpassing torque threshold rotating speed by motor reduce or fully cut-out avoid torque overshoot.
The favourable improvement of electric screw driver of the present invention and design can be obtained by dependent claims.
According to a kind of design, when the torque actual value was lower than torque threshold, motor controller preseted the motor speed of maximum possible to motor.Thereby the power of maximum possible is provided to motor, wherein under given loading condition, regulate the rotating speed of maximum possible.Take this measure can within the short as far as possible time, produce the spiral connection, and can not have the danger of torque overshoot.
According to a kind of design, the torque threshold determining means is determined poor between torque set-point and the torque threshold according to torque gradient.Take this measure can consider from soft to hard whole situations that screw.The difference that the torque threshold determining means is determined wants the specific torque gradient hour large when torque gradient is larger, thus no matter in the hard situation that screws still in the soft situation that screws, can both avoid torque overshoot.
According to a kind of design, the torque threshold determining means contains form, stores in this form for torque gradient and the torque set-point of determining torque threshold.Alternatively, can stipulate: the torque threshold determining means is known torque threshold by inference based on the torque gradient of trying to achieve, torque actual value and the torque set-point that regulates.
Another kind of design code a kind of electric electromechanics current sensor, it detects the motor current of measuring as the torque actual value.The electric electromechanics current sensor for example may be implemented as low ohm current divider, and this current divider can be realized inexpensively than the electric electromechanics current sensor of electromagnetism.
Another kind of design code a kind of data medium, in this data medium, store the characteristic value that screws attaching parts, and/or this data medium is arranged for and stores the detection data that spiral to be generated connects.Data medium contains torque set-point given in advance at least.At least can store the actual torque actual value that reaches that screws attaching parts.Data medium can also contain the characterisitic parameter such as the electric screw driver calibration data, perhaps is arranged for this characterisitic parameter of storage.
Data medium can be attached troops to a unit in electric screw driver.According to the another kind design, electric screw driver has for signal being passed to the mechanism that is arranged on the data medium outside the electric screw driver.
Another kind of design code a kind of voltage limiting circuit, this voltage limiting circuit will be restricted at the motor voltage that motor produces deboost given in advance.Deboost preferably is confirmed as the rated operational voltage of motor at least, motor can help to discharge energy in the support arm that is stored in electric screw driver when the process that screwing in case of necessity finishes soon in the work under the generator mode by it thus, and motor can not apply countertorque.
Voltage limiting circuit preferably contains bipolar restriction Zener diode and/or rheostat.
The another kind of electric screw driver of the present invention improves regulation, as the energy source of motor, uses the battery based on lithium, because its energy density is higher.For example can use lithium-ions battery (Li ion accumulator), perhaps for example can use lithium polymer storage battery (Li polymer storage battery).
As long as supply voltage is provided by battery, just preferably be provided with the battery tension drop compensation circuit, its supply voltage that can compensate decline is on reaching the impact of adjusted good torque set-point, and described impact particularly produces when the torque actual value is tried to achieve by motor current.A kind of simple implementation regulation of battery tension drop compensation circuit, the battery tension drop compensation circuit is when supply voltage descends or improve adjusted good torque set-point, or the torque actual value that reduces to try to achieve.Avoid thus the interference to the power section of motor.
The design that other of electric screw driver of the present invention is favourable and improvement can be obtained by following explanation.Shown in the drawings of the embodiment of electric screw driver of the present invention, the below is described in detail these embodiment.
Shown in the figure:
Fig. 1 is the sketch of electric screw driver of the present invention;
Fig. 2 is the block diagram of the control circuit of electric screw driver of the present invention;
Fig. 3 is the torque change curve about the time; With
Fig. 4 a and 4b show the voltage limiting circuit of different designs.
Fig. 1 is the sketch that contains as the electric screw driver 10 of the motor 12 of driving mechanism, and this motor drives plug sockets (Stecknuss) 16 by transmission mechanism 14.Electric screw driver 10 contains support arm 18, and in the process of screwing, this support arm provides countertorque.In the embodiment shown, electric screw driver 10 works on the storage battery, and it contains battery part 20, and battery 22 is installed in battery part 20.Utilize switch 24 so that electric screw driver 10 is started working.In order to control motor 12, be provided with control circuit 26, this control circuit 26 is equipped with data medium 28 and sending/receiving device 30.
In the embodiment shown, dc motor 12 is preferably controlled by the signal of pulse width-modulated, and this signal has been determined the average working voltage of motor 12.
The occupation efficiency of the signal s_PWM of pulse width-modulated has reflected the ratio of on-time and duration in cycle, this occupation efficiency has been determined average motor voltage u_Mot, realize thus the power that offers motor 12 is exerted one's influence, perhaps the rotating speed of motor 12 is exerted one's influence.
After switch 24 closures, the load of occupation efficiency, supply voltage u_Batt and the motor 12 of the signal s_PWM that the flowing of motor current i_Mot just depended on pulse width-modulated.
Motor current i_Mot is considered as measuring of the torque that applied by motor 12, and then measuring of the torque actual value that provides at plug socket 16 is provided.In the embodiment shown, motor current i_Mot detects with electric electromechanics current sensor 44, and this electric electromechanics current sensor is implemented as for example 0.01 ohm low ohmic resistance or current divider.Ask in the torque actual value as measuring of motor current i_Mot and at the voltage drop u_Sens that current divider 44 produces and to be enhanced in the parts 46, and be provided as measuring of torque actual value md_Ist, this torque actual value is asked for parts 46 and is for example contained the 0pAmp that is routed to difference amplifier.Preferably be provided with the signal smoothing device that is not shown specifically, it is not so that torque actual value md_Ist has high-frequency interferencing signal at least.
The torque actual value is provided for motor controller 40, torque gradient is asked for parts 48 and torque threshold determining means 50.Torque gradient is asked for parts 48 and is obtained at least one time derivative, thereby obtains the gradient dmd_Ist/dt of torque actual value md_Ist.Preferred difference quotient is similar to difference coefficient.
Torque gradient is asked for parts 48 torque gradient dmd_Ist/dt is offered torque threshold determining means 50, torque set-point Md_Soll and torque minimum M d_Min that torque threshold determining means 50 is utilized torque gradient dmd_Ist/dt, torque actual value md_Ist, provided by torque set-point preset component 52, determine torque threshold Md_Lim, this torque threshold Md_Lim is provided for motor controller 40.
Utilize the torque time changing curve shown in Fig. 3 to be described in detail in and determine torque threshold Md_Lim in the torque threshold determining means 50.Fig. 3 illustrates the first and screws situation SF1, and it is corresponding to the hard situation that screws, and accordingly, torque actual value md_Ist produces than changing faster.Fig. 3 illustrates the first and screws situation SF2, and it is corresponding to the soft situation that screws, and accordingly, torque actual value md_Ist produces slow variation.
After the process of screwing began, torque gradient was asked for parts 48 and is for example obtained the torque gradient dmd_Ist/dt that can be similar to at least one difference coefficient.In according to embodiment shown in Figure 3, after surpassing torque minimum M d_Min, torque gradient is asked for parts 48 time-based interval dti, obtains at least one difference coefficient.Time interval dti is given in advance in the following way: in the situation that wish that torque is risen soon as far as possible and torque set-point Md_Soll regulates as far as possible littlely, guarantee that torque threshold determining means 50 can obtain and provide torque threshold Md_Lim1, Md_Lim2.
Torque minimum M d_Min for example is confirmed as torque actual value md_Ist, and it is a little more than the desirable engagement torque that screws attaching parts.Take this measure can guarantee to obtain the torque gradient dmd_Ist/dt of the reality that screws attaching parts.
The torque set-point Md_Soll that utilization regulates, preferred torque minimum M d_Min, the torque actual value md_Ist that tries to achieve given in advance, and utilize torque gradient dmd_Ist/dt, torque threshold determining means 50 screws in the first and determines the first torque threshold Md_Lim1 under the situation SF1, screws at the second and determines the second torque threshold Md_Lim2 under the situation SF2.Torque threshold Md_Lim1, Md_Lim2 lay respectively under the torque set-point Md_Soll.The first torque threshold Md_Lim1 is positioned at the first residual quantity d1 place under the torque set-point Md_Soll, and the second torque threshold Md_Lim2 is positioned at the second residual quantity d2 place under the torque set-point Md_Soll.
Torque threshold determining means 50 can utilize the form of storing to determine threshold value Md_Lim1, Md_Lim2.According to another embodiment, the functional relation between the described input parameter is stored in the torque threshold determining means 50, thereby torque threshold Md_Lim1, Md_Lim2 can know by inference from current torque actual value md_Ist.In the simplest situation, this functional relation can be based on linear equation, thereby desirable torque change curve can represent with slope and the point of straight line fully.Torque threshold Md_Lim1, Md_Lim2 or preferably try to achieve by experiment for the essential functional relation of definite threshold Md_Lim1, Md_Lim2, and be stored in the torque threshold determining means 50.
Screw under the situation SF1 in the first, reach the first torque threshold Md_Lim1 at the first moment ti1.The first torque threshold Md_Lim1 or the first difference d1 meet the hard situation that screws, and the situation that screws that this is hard is distinguished by the torque gradient dmd_Ist/dt that tries to achieve.The first difference d1 is larger.
Screw under the situation SF2 at the second, reach the second torque threshold Md_Lim2 at the second moment ti4.The second torque threshold Md_Lim2 or the second difference d2 meet the soft situation that screws, and the situation that screws that this is soft is distinguished by the torque gradient dmd_Ist/dt that tries to achieve.The second difference d2 is smaller.
The first contained in motor controller 40 comparator 54 is compared torque threshold Md_Lim, Md_Lim1, Md_Lim2, and is provided control signal s_Mot according to comparative result with torque actual value md_Ist.Control signal s_Mot is responsible for being achieved as follows situation: the signal s_PWM control of pulse width-modulated has the motor 12 than in the past little power, reduces thereby predesignated rotating speed for motor 12.Alternatively can stipulate, when control signal s_Mot occurring, motor 12 be cut off fully.
Rotating speed reduces or cuts off fully to have prevented that basically torque that torque actual value md_Ist overshoot, torque actual value md_Ist overshoot meeting cause being higher than torque set-point Md_Soll from will screw attaching parts and tightening after reaching torque threshold Md_Lim, Md_Lim1, Md_Lim2.
Overshoot is caused by the kinetic energy that particularly exists in the transmission mechanism 14 at motor 12 when the process of screwing finishes soon.Thus, particularly the hard situation that screws SF1 is relatively more crucial, because just reached torque set-point Md_Soll in shorter time ti.In order to describe the problem, according to the embodiment shown in Fig. 3, although motor 12 is reducing rotating speed or is being completely severed after surpassing the first torque threshold Md_Lim1, torque actual value md_Ist still almost until second constantly ti2 just rise, and torque gradient dmd_Ist/dt does not reduce.Therefore, from second constantly the ti2, motor 12 just reduces rotating speed or is completely severed, and this rotating speed reduces or cut off fully by control signal s_Mot to cause, and it is given in advance to pass through the signal s_PWM of pulse width-modulated.
Torque set-point Md_Soll reaches at the 3rd moment ti3 with the torque gradient dmd_Ist/dt that reduces.As long as motor 12 not yet is completely severed when surpassing the first torque threshold Md_Lim1, just can be afterwards in the 3rd constantly ti3 cut-out motor 12.Described cut-out causes by stop signal s_Stop, and the second comparator 56 that is arranged in the motor controller 40 provides described stop signal s_Stop according to the comparative result between torque set-point Md_Soll and torque actual value md_Ist.
Opposite with the hard situation that screws SF1, under the soft situation that screws SF2, after reaching the second torque threshold Md_Lim2, still there is the long time available, until reach torque set-point Md_Soll.Therefore, the second torque threshold Md_Lim2 can be obviously near torque set-point Md_Soll, corresponding to less difference d2.In this case, after reaching the second torque threshold Md_Lim2, can cause that also motor 12 reduces rotating speed, cause that perhaps motor 12 has been completely severed.Surpassing afterwards reducing of torque gradient dmd_Ist/dt of the second torque threshold Md_Lim2 by what cause thus, under the soft situation that screws SF2, also can prevent overshoot, thereby screw device accurately is tightened with torque set-point Md_Soll, and torque set-point Md_Soll reaches at the 5th moment ti5.
In the embodiment shown, in order to give motor 12 supplying energies, be provided with battery 22, this battery 22 preferably is realized as the battery based on lithium, is that energy density is high based on the characteristics of the battery of lithium.For example can use lithium-ions battery (Li ion accumulator), perhaps for example can use lithium polymer storage battery (Li polymer storage battery).Battery 22 provides supply voltage u_Batt.Although battery, particularly based on the discharge characteristic curve opposed flattened of the battery of lithium, if but motor current i_Mot is considered as measuring of torque actual value md_Ist, even then very little voltage drop also can directly affect and reach torque set-point Md_Soll, because can produce less motor current i_Mot when supply voltage u_Batt descends.
Thereby being provided with battery tension drop compensation circuit 60, its supply voltage u_Batt that can compensate decline is on reaching the impact of adjusted good torque set-point Md_Soll.
In principle, supply voltage u_Batt can be stablized immediately and be kept constant, yet required power semiconductor device, relative cost is high on the one hand for these power semiconductor parts, on the other hand because desirable current ratio is for example bulky up to 100A, to such an extent as to can not be installed in the electric screw driver 10.
Battery tension drop compensation circuit 60 therefore preferably intervenes torque set-point preset component 52 with compensating signal s_Batt_Komp or the torque actual value is asked for parts 46, wherein when supply voltage u_Batt descends, torque set-point Md_Soll increases, or torque actual value md_Ist reduces.
Battery tension drop compensation circuit 60 for example can contain reference voltage source, and supply voltage u_Batt compares with this reference voltage source.Along with the difference between reference voltage and the supply voltage u_Batt diminishes in the discharge process of battery 22, compensating signal s_Batt_Komp continues to increase, this increase is equivalent to motor current i_Mot and in fact reduces, so as in the supply voltage u_Batt decline situation at signal evaluation the actual motor current i_Mot that reduces of time compensation.
At electric screw driver 10 duration of works, support arm 18 provides needed countertorque with respect to be delivered to the torque on the screw device by plug socket 16.In order to prepare the process of screwing, support arm 18 is fixed on the suitable supporting mechanism.In the process of screwing, depend on the torque of increase, the distortion of corresponding increase appears in support arm 18, and this distortion is equivalent to stored energy.After cutting off screwdriver 10, the energy that is stored in the support arm 18 has maximum reaching the torque set-point Md_Soll that regulates in advance.
By the distortion of support arm 18, plug socket 16, and then whole electric screw driver 10, screw on the attaching parts clamped.After cutting off motor 12, the energy that is stored in the support arm 18 causes motor 12 from plug socket 16, and driven by transmission mechanism 14 backward, wherein motor 12 begins rotation along the direction opposite with driving direction.
Therefore, when the energy in being stored in support arm 18 discharged, motor 12 was as generator work.For so that the energy that is stored in the support arm 18 fast, easily discharges, motor 12 should be able to rotate freely, and can not apply countertorque, and this countertorque can hinder and prolong described dispose procedure.Therefore, under this duty, motor 12 should not connect by short circuit or with small resistor, wherein hour has just produced larger motor current i_Mot at generator voltage, and larger motor current i_Mot is corresponding to larger countertorque.Need to consider at this, when working as generator, because direction of rotation is different, motor voltage u_Mot polarity is opposite, and motor current i_Mot thereby reverse flow are as long as provide current circuit.
Especially, test shows, when work as generator, can produce the motor voltage u_Mot of significant rated operational voltage apparently higher than motor 12.For the motor 12 that rated voltage for example is 28 volts, show, voltage peak is up to 200 volts, and the pulse duration is hundreds of ns.This high-octane pulse meeting causes the parts damage of control circuit 26, particularly can cause switch block 42 damages.
Therefore be provided with voltage limiting circuit 70, this voltage limiting circuit 70 will be restricted to deboost u_Lim given in advance as the motor voltage u_Mot with motor 12 rotation of driving direction contrary ground generator work, produce at motor 12 when the energy of described motor voltage u_Mot in being stored in support arm 18 discharges.
But voltage limiting circuit 70 can be born the function of lost motion components, and wherein during spinning, motor current i_Mot does not commutate, and deboost u_Lim produces as motor voltage u_Mot.In case of necessity, can be provided with the lost motion components of the connection that is not shown specifically, this lost motion components is subjected to the control of the signal s_PWM of pulse width-modulated.
And diode 72 can be realized potential pulse is made very fast reaction, and rheostat 74 can absorb and discharge higher energy at least in short time.Therefore diode 72 and rheostat 74 can be set as requested in combination.
The value that deboost u_Lim at first is configured to should be so that can not produce restriction to motor voltage u_Mot in the driven work of motor 12.Therefore for 28 volts motor 12, deboost u_Lim set at least 28 volts value.Because motor voltage u_Mot commutation when motor 12 is worked as generator, so in opposite polarity situation, voltage limiting circuit 70 must provide the deboost u_Lim especially for motor voltage u_Mot, because particularly can produce superpotential danger when working as generator.According to illustrated embodiment, this embodiment has the polarity of the supply voltage u_Batt shown in Fig. 2, when motor 12 is worked as generator, produces the positive potential of motor voltage u_Mot at switch block 32, and has applied negative potential at battery 22.
The best following setting of deboost u_Lim: its size equals the size of the rated voltage of motor 12 at least.According to another kind design, the deboost u_Lim that works when motor 12 work as generator to the major general sets for can be according to the value of the definite so-called protection ELV (Schutz-Kleinspannung) of law.Should come in the following way to determine at the protection ELV under this meaning: on electric equipment, be under present case on electric screw driver 10, the parts with voltage that may be touched do not allow to surpass the protection ELV.As long as situation is like this, will take be used to the certain measures that prevents from contacting.The protection ELV for example can be 42 volts.
The another kind of electric screw driver 10 of the present invention improves has stipulated a kind of data medium 80, this data medium 80 contains and is useful on the data that screw, for example contain at least torque set-point Md_Soll, and/or be prepared for record data, the actual torque actual value md_Ist that reaches for example, these data are stored when the process that screws finishes at least.Data medium 80 can also contain the characterisitic parameter of electric screw driver 10, and/or is prepared for storing the characterisitic parameter of electric screw driver 10.The data medium that data medium 80 preferably moves for example is implemented as not expensive available RFID.
The another kind of electric screw driver 10 of the present invention improves has stipulated to be used for the mechanism 82 that signal transmits, for example the sending/receiving device 82, and it is designed to receive and/or send the data of the characterisitic parameter of the data of relevant screw device and/or relevant electric screw driver 10.Sending/receiving device 82 preferably is designed to and for example mobile data medium mating reaction of the data medium that is not shown specifically, and the data medium of described movement can be corresponding to data medium 80.As long as this data medium is aforesaid RFID, sending/receiving device 82 just has high frequency transmitter and/or high-frequency receiver, and wherein the sending/receiving frequency is consistent with the sending/receiving frequency of data medium.
Claims (17)
1. electric screw driver, have that motor (12), torque set-point preset component (52), torque actual value as driving mechanism asked for parts (46), torque gradient is asked for parts (48) and motor controller (40), motor controller is controlled motor (12) according to torque gradient (dmd_Ist/dt), it is characterized in that, be provided with torque threshold determining means (50); Torque threshold determining means (50) provides torque threshold (Md_Lim, Md_Lim1, Md_Lim2), and this torque threshold depends on torque gradient (dmd_Ist/dt) and is positioned at below the torque set-point (Md_Soll); If torque actual value (md_Ist) has surpassed torque threshold (Md_Lim, Md_Lim1, Md_Lim2), then motor controller (40) is so that motor (12) reduces rotating speed, and, when torque actual value (md_Ist) reaches torque set-point (Md_Soll), cut off motor (12) fully.
2. electric screw driver as claimed in claim 1, it is characterized in that, when torque actual value (md_Ist) was lower than torque threshold (Md_Lim, Md_Lim1, Md_Lim2), motor controller (40) preseted the rotating speed of the motor (12) of maximum possible for motor (12).
3. electric screw driver as claimed in claim 1 or 2, it is characterized in that, torque threshold determining means (50) is determined difference (d1, d2) between torque set-point (Md_Soll) and the torque threshold (Md_Lim, Md_Lim1, Md_Lim2) according to torque gradient (dmd_Ist/dt).
4. electric screw driver as claimed in claim 3, it is characterized in that, the difference (d1, d2) that torque threshold determining means (50) is determined wants specific torque gradient (dmd_Ist/dt) hour greatly when torque gradient (dmd_Ist/dt) is larger.
5. electric screw driver as claimed in claim 1, it is characterized in that, torque threshold determining means (50) contains form, stores in this form for torque gradient (dmd_Ist/dt) and the torque set-point (Md_Soll) of determining torque threshold (Md_Lim, Md_Lim1, Md_Lim2).
6. electric screw driver as claimed in claim 1, it is characterized in that, torque threshold determining means (50) is known torque threshold (Md_Lim, Md_Lim1, Md_Lim2) by inference based on the torque gradient of trying to achieve (dmd_Ist/dt), torque actual value (md_Ist) and torque set-point (Md_Soll).
7. electric screw driver as claimed in claim 1 is characterized in that, is provided with electric electromechanics current sensor (44), and it detects the motor current of measuring (i_Mot) as torque actual value (md_Ist).
8. electric screw driver as claimed in claim 1, it is characterized in that, be provided with data medium (80), in this data medium, store and screw characteristic value attaching parts and/or electric screw driver (10), and/or this data medium is arranged for storage and screws the detection data of attaching parts or the characteristic value of electric screw driver (10).
9. electric screw driver as claimed in claim 8 is characterized in that, electric screw driver (10) has the mechanism (82) that is arranged on the data medium outside the electric screw driver (10) for signal is passed to.
10. electric screw driver as claimed in claim 1, it is characterized in that, be provided with voltage limiting circuit (70), this voltage limiting circuit will be restricted to deboost given in advance (u_Lim) at the motor voltage (u_Mot) that motor (12) produces, and this deboost is confirmed as the rated operational voltage of motor (12) at least.
11. electric screw driver as claimed in claim 10 is characterized in that, voltage limiting circuit (70) contains bipolar restriction Zener diode (72).
12. electric screw driver as claimed in claim 10 is characterized in that, voltage limiting circuit (70) contains rheostat (74).
13. electric screw driver as claimed in claim 1 is characterized in that, is provided be used to the battery that supply voltage (u_Batt) is provided (22).
14. electric screw driver as claimed in claim 13 is characterized in that, battery (22) is based on the battery of lithium.
15. electric screw driver as claimed in claim 13 is characterized in that, battery (22) is Li ion accumulator or Li polymer storage battery.
16. such as claim 13,14 or 15 described electric screw drivers, it is characterized in that, be provided with battery tension drop compensation circuit (60), the supply voltage (u_Batt) that its compensation descends is on reaching the impact of adjusted good torque set-point (Md_Soll).
17. electric screw driver as claimed in claim 16, it is characterized in that, battery tension drop compensation circuit (60) is when supply voltage (u_Batt) descends or improve adjusted good torque set-point (Md_Soll), or the torque actual value (md_Ist) that reduces to try to achieve.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007019409.0 | 2007-04-23 | ||
| DE102007019409A DE102007019409B3 (en) | 2007-04-23 | 2007-04-23 | power wrench |
| PCT/DE2008/000671 WO2008128523A2 (en) | 2007-04-23 | 2008-04-23 | Power screwdriver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101765483A CN101765483A (en) | 2010-06-30 |
| CN101765483B true CN101765483B (en) | 2013-09-18 |
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ID=39744869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008800215449A Expired - Fee Related CN101765483B (en) | 2007-04-23 | 2008-04-23 | Power screwdriver |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US20100116519A1 (en) |
| EP (1) | EP2146822B1 (en) |
| CN (1) | CN101765483B (en) |
| AR (1) | AR066256A1 (en) |
| BR (1) | BRPI0811037A8 (en) |
| CA (1) | CA2684786C (en) |
| CL (1) | CL2008001169A1 (en) |
| DE (1) | DE102007019409B3 (en) |
| RU (1) | RU2459695C2 (en) |
| TW (1) | TWI492824B (en) |
| WO (1) | WO2008128523A2 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| AR066256A1 (en) | 2009-08-05 |
| RU2009142992A (en) | 2011-05-27 |
| TW200846142A (en) | 2008-12-01 |
| BRPI0811037A2 (en) | 2014-12-09 |
| EP2146822A2 (en) | 2010-01-27 |
| EP2146822B1 (en) | 2012-08-01 |
| WO2008128523A2 (en) | 2008-10-30 |
| WO2008128523A3 (en) | 2009-01-08 |
| CA2684786C (en) | 2015-04-07 |
| CA2684786A1 (en) | 2008-10-30 |
| TWI492824B (en) | 2015-07-21 |
| RU2459695C2 (en) | 2012-08-27 |
| BRPI0811037A8 (en) | 2019-01-15 |
| DE102007019409B3 (en) | 2008-11-13 |
| US20100116519A1 (en) | 2010-05-13 |
| CN101765483A (en) | 2010-06-30 |
| CL2008001169A1 (en) | 2008-10-03 |
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